It's not the major battle in the North Atlantic that the OP asked for, but...
In the No Aircraft Carriers and More Battleships for Germany threads that I never finished 12 additional Type 24 torpedo boats were built in the 1930s instead of the 10 F-boats. One of the reasons for that was that the Germans did not have enough destroyers to screen the capital ships and cruisers.
For example that contributed to Lutzow being torpedoed in April 1940 after returning from Oslo.
If the Oslo Group had been provided with an adequate destroyer screen and Lutzow had not been torpedoed my guess is that she would have accompanied Scheer on her October 1940 to April 1941 sortie. Therefore when HX84 was encountered Scheer would deal with the Jervis Bay and Lutzow would attack the convoy. It's not a major naval battle, but the Germans are likely to sink three or four times more of the convoy's ships than OTL.
A small destroyer screen also helped a British submarine sink the Karlsruhe on her return from Norway. She was the most seaworthy and battle worthy of the German light cruisers because she was the only one that had had her hull rebuilt. If a thicker destroyer screen had prevented her from being torpedoed it's possible that she would have been sent on an Atlantic sortie in 1940-41 and very likely that she would have been sent to Norway in 1942.
Another possibility is that Karlsruhe took part in Operation Berlin. She might not have been detached like Hipper and the destroyers were because AFAIK she had a longer range. The extra firepower she provided might have stopped Acasta torpedoing the Scharnhorst. That would have butterflied away the torpedoing of her sister in the operation to mounted to cover the damaged Scharnhorst's return to Germany.
That might in turn mean an earlier Operation Berlin with The Twins being accompanied by Karlsruhe and possibly Hipper depending upon when they were ready. For example if they were ready to go out with Hipper at the end of November 1940 and they still meet the troop convoy we might have a major battle there.
I do not see what that has to do with the topic. Destroyers were not seen in the kriegsmarine as escorts for atlantic missions of larger ships, but rather larger coastal vessels mainly, due to short endurance and seaworthynessproblems. So forget the destroyers in this battle, as they were useless in the mind of the Kriegsmarine for high sea missions. That means: NO DESTROYERS!
German larger warships were well designed to operate on their own, or with their fellow consorts. Destroyers would have rendered them inoperable, being confined to coastal missions only. Why build large ships in the first place then?